MultiWii

mahowik

Hamburger wrote:You should probably use a terminal program of your choice on the phone and enable vt100 mode in mwii.
I have no experience with shortcomings of iphone, so jailbreak may be neccessary.

exactly! you need jailbreak + vt100 enabled

mahowik

Hi guys, I got 115200/10hz firmware for mtk3339 (with GGA,GSA,RMC frames) from russian forum m You need to reflash this with "MT3339 FlashTool v122 for Customer" tool. Possible to download here: ftp route: ftp.gtop-tech.com account: gtop_flash_tool password: sales101 Already tried to refla...

mahowik

Hi, twi.c and twi.c will be in the \arduino-1.0.1\libraries\Wire\utility right ? Yes, and copy the folders in "Arduino-PID-libs" to \arduino-1.0.1\libraries. When you hover with the mouse over Sketch->Import Library you shoud find "APM_PI" and "PID_Controller" in the l...

mahowik

copterrichie wrote:A pure Java application without the Processing is very easy to port to other platforms.

do you know will it be possible to port for android? it would be nice to have this on tab!

mahowik

ok... thx.. i suppose u have 3329 with predefined 38400 baud and 5hz update rate accordingly...
to check this u can connect with MiniGPS_v1.7.1 to your GPS module

http://www.adafruit.com/datasheets/Mini ... _1.7.1.zip

mahowik

you are right that solution for serial gps (also possible on 328 when GUI off)...

for i2c GPS u can use this viewtopic.php?f=8&t=649&start=610#p14024
actually it's the same but with common Serial lib usage...

mahowik

I have provided solution for 3339 on prev page... it works... i have checked this...

mahowik

warthox wrote:gps - MediaTek MT3339

3339? not 3329?
still interesting how you switch this to 115200 and 10 hz? probably you found custom firmware for this?

thx-
Alex

mahowik

when I try to save, this window appears MiniGPS v1.4 also could not flush settings (( So I have prepared GPS initialization from sketch: 1. to Serial.ino add this new function: void SerialPrint(uint8_t port, String str){ uint8_t i = 0; while (i <= (str.length()-1)) { SerialWrite(port, (uint8_t)str....

mahowik

the MiniGPS v1.4 can make changes, I have the same GPS thanks! it sounds strange but i will try... )) are you sure that after reconnecting the power it keeps the settings? could you check your gps firmware version (located on "About" tab of MiniGPS program)? i.e. you have used this "...

mahowik

Guys, Probably someone know custom/special firmware for mtk3339 to keep 115200 and 10hz? MiniGPS_v1.7.1 can read and change setting of this GPS module but can't to flash that modified settings (( Actually it's possible to init from Arduino but it's not so useful... p.s. sometimes new hardware is not...

mahowik

Hi, recently bought this GPS m with MTK3339-based module, I can flash the firmware 115200 10hz? thanks mtk3329 and mtk3339 diff chipsets.. I also bought this (why not 3329? ) because it's little bit precise (in diff with 3329) having SBAS (Space Based Augmentation System) function... BUT I don't kn...

mahowik

Hi, At first thanks for you project! Are you planning to make some switching between real-time graphs for all sensors (ACC,GYRO, BARO etc.)? I.e. not only ACCx/y/z and Gx... Also it would be very useful to have debug1/2/3/4 graphs when developing/testing some new modes outside. E.g. alt-hold baro/so...

mahowik

Cronalex wrote:can someone send me a version with this feature implemented

official 2.0 version

mahowik

Actually you don't need to change anything here, but if you still have some problems with vibrations you can play with internal sensor LPF: //i2c_writeReg(ADXL345_ADDRESS,0x2C,0x06); // rate=6.25hz, bw=3.13hz (see table 7 of the spec) //i2c_writeReg(ADXL345_ADDRESS,0x2C,0x07); // rate=12.5hz, bw=6.2...

mahowik

Tazzy wrote:Works perfekt with default settings in 2.0 here is a smal video how it works.

In which range it keeps altitude?
From video it's not so clear...

mahowik

ok
Thanks! I will try... and I need more more more statistics (with bmp085)!

mahowik

dongs wrote:Works fine for me on default settings ~

it works for all cases below or only for 1st point?
1. when you stabilize copter vertically and then turn on alt hold
2. during the vertical up/down movements
3. during the flight
4. with wind

mahowik

I saw a lot of posts with great results, but it was related to MS5611... And I wanna to find the same for bmp085 if it's also true for this baro sensor

mahowik

Hi guys!

Could someone tell me if you have success of using alt-hold and bmp085 with official 2.0 version? And which PIDs in this case?
Or it works good only with MS5611?

thx-
Alex

mahowik

Hi guys!

Could someone tell me if you have success of using alt-hold and bmp085 with official 2.0 version? And which PIDs in this case?
Or it works good only with MS5611?

thx-
Alex

mahowik

- ROLL/PITCH 5.2-0.03-35 (or 6.0-0.03-40) it helps to get smooth and stable flight for most configs (tested!!!) Did you get this values with default ESC ? or flashed with fastPWM or dedicated... ? I think it is hard to get this values with normal ESC but agree, I'm using Mystery with wii-erc firmwa...

mahowik

It's also make sense to change the default PIDs for novices because OLD-wii-mans already know which PIDs they are need - ROLL/PITCH 5.2-0.03-35 (or 6.0-0.03-40) it helps to get smooth and stable flight for most configs (tested!!!) - YAW 8.5-0.045 it much helps to keep yaw on hold even without MAG! (...

mahowik

copterrichie wrote:I have often wondered about the reason for not using float variables for the Angular calculations.

For gyro vector rotation and filtering in CF the float variables are used in IMU. Also it would be great to use the same for ACC LPF...

mahowik

I added Shikras driftkiller. It set errorAngleI to zero if errorangels diffs. errorAngleI[axis] = constrain(errorAngleI[axis]+errorAngle,-10000,+10000); #if SHIKRA if (errorAngle > 0 && errorAngleI[axis]<0 ) errorAngleI[axis] = 0; if (errorAngle < 0 && errorAngleI[axis]>0 ) errorAng...

mahowik

Me and ziss_dm already tried to propose (some months ago) float filter for ACC and high gyro factor in CF(complimentary filter) but it seems Alex don't like float variables in the code

viewtopic.php?f=8&t=849&hilit=GYR_CMPF_FACTOR&start=90#p7595

mahowik

Actually we can't avoid a little drift because there are a lot of factors like: temperature influence to gyro and acc, ESC; not ideal sensors calibrations; accumulated errors in calculations/integrators etc. If you you wanna have ideal horizontal positioning, you need to use optical flow sensor (or ...

mahowik

cool!!!

mahowik

Hi guys, Let me explain what is going on If you have a noise on ACC (because of vibrations or some other reason e.g. electrical influence) IMU takes this into account via Complementary Filter (CF) and pass this noise to PID regulator where "I" part accumulate/integrate this small inclinati...

mahowik

kuki83 wrote:hi guys

what do you think about it.

I made some modifications to the code.
Current version 1.9 + my modifications

Pressure Sensors MS5611

http://www.youtube.com/watch?v=PSujWh0OMog

It's really cool !!!
Ineteresting to look at the code changes.

thx-
Alex

mahowik

have anyere a idear how to switch between SonarAlt and BaroAlt automaticly ? I have used the following... i got the main idea from megapiratNG: #define MAX_SONAR_RANGE 400 #define BARO_TO_SONAR MAX_SONAR_RANGE+150 // Due to low baro accuracy #define SONAR_TO_BARO_FADE (MAX_SONAR_RANGE/3) // 33% of ...

mahowik

Hi Wektor!

It looks very stable! Could you share your changes for alt-hold?
integrator IMU? own PID regulator? or just more precised baro?

thx-
Alex

mahowik

Hi, dev_20111220 and MultiWii_1_9 is the same in terms of alt-hold... Here is some more facts that alt-vel PI-PD works: http://www.multiwii.com/forum/viewtopic.php?f=7&t=363&start=70#p8019 http://www.multiwii.com/forum/viewtopic.php?f=7&t=363&start=70#p8100 http://www.multiwii.com/fo...

mahowik

still in progress and on pause now because have not free time...
p.s. alexmos also joined to sonar integration... he plays with HC-SR04

mahowik

I have similar PID settings with good alt hold which I have put to my custom sketch

P8[PIDALT] = 30; I8[PIDALT] = 10; D8[PIDALT] = 0;
P8[PIDVEL] = 55; I8[PIDVEL] = 0; D8[PIDVEL] = 45;

http://forum.rcdesign.ru/blogs/83206/

mahowik

I have two quads that hold altitude quite well using the VEL PD. Both are of different weights, and power systems. They just needed some fine tuning to get them dialed. I get up to a meter of fluctuation, in the wind. Most of the time less than a meter. BMA180 for accel. just for the statistics... ...

mahowik

Hi ! I'm planning to create GUI for Android 2.3 with graphs (as i couldn't find info about existing project - is it opensource etc. or can i add graphs to it) Reading data from MultiWii is very simple. Processing is not required at all for some simple visualizations even 3D. It can work with other ...

mahowik

Hey Alex! Why you remove velocity PD controller (i see that in trunk)?! I'm sure it will not work without PD (particularly without D part)... I'm trying to integrate the sonar now and (this sensor has good precision... ~0.3cm), but i didn't get stability with only PI regulator (played with PID param...

mahowik

Hmm... I suppose with GYR_CMPF_FACTOR=600 we can just the turn off the power of the ACC )) Touché Hi Ziss, Let me fully understand how CF works. CF has their own compensation response time. I mean time which is necessary to compensate gyro vector drift by acc vector when they are not in sync (e.g. ...

mahowik

ziss_dm wrote:@mahowic: why you using "inverted" notation?

It doesn't matter

Mathematically it's the same

ziss_dm wrote:That is right:
#define ACC_LPF_FACTOR 150
#define GYR_CMPF_FACTOR 600.0f

Hmm... I suppose with GYR_CMPF_FACTOR=600 we can just the turn off the power of the ACC ))

thx-
Alex

mahowik

and how work the bw and LP inside the chip ? How I understand this: bw = sample_rate/2, where each sample is averaged value of internal measurements for current dt, where dt = 1/f_cut could you explain the reason why it works better with another bw setting ? It means that alt-hold integrator has th...

mahowik

This works for me with bma020, but what about the bma180, is it worth to change ? Is it also affected by this range overload issue? Hi, I think it is also. There was an empirical suggestion to modify the mode_config to an undocumented setting, but I don't think it's the best solution. Here is a cod...

mahowik

marbalon wrote:I think the most important is code other things like all fields, bars, sensor chart etc.

Thanks a lot! Yes for development (debugging of new modes, testing the code changes) the GL part doesn't necessary in general, but charts, bars, fileds would be very usefull!

thx-
Alex

mahowik

tovrin wrote:this also interests me, but where are you going to plug it in at?

via internal bluetooth or external connected to usb

mahowik

Hi all, I'm going to buy some kind of tablet PC based on Android... So does it possible to compile our MultiWiiConf UI app for Android Tablet PC (e.g. for Samsung Galaxy Tab 10.1)? m P.s I know that we have special UI app for Android phones BUT it would be nice to have full MultiWiiConf UI app! thx-...

mahowik

I saw in the trunk, that alex also applied this code to the bma020, I once tested this solution but I heard that this changes the snesitivity so it is not that exact anymore. Hi guys! It is nice to have anti-vibro solution by increasing the ACC range to +/-8..16g, but in case of bma020 it has low p...

mahowik

Alexinparis wrote:But the real solution is probably to use an increased range +/- 8G in the ACC sensor config as described in some other posts.

viewtopic.php?f=8&t=849&start=10#p5220

Yes, as for me it works now with bma020.

mahowik

Good news! Sonar driver works now! Cycle time is ok also. Thanks to Sir Alex from megapirateng project m #if defined(DYP_ME007) // setup pins and variables for DYP-ME007 sonar device void Sonar_init() { // Sonar INIT //======================= //The smaller altitude then lower the cycle time //cli();...

mahowik

Hi all, m I'm trying to integrate the DYP-ME007 sonar to multiwii for more precised alt hold (with altitude <5m) or for auto landing etc... With simple example the sonar work perfect // variables to take x number of readings and then average them // to remove the jitter/noise from the DYP-ME007 sona...

mahowik

here is also some thoughts on this...
viewtopic.php?f=7&t=905&start=40#p5956

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